rbs_bringup/launch/rbs_robot.launch.py

@@ -15,7 +15,6 @@ import xacro
 import os
 from ament_index_python.packages import get_package_share_directory
 
-from rbs_arm import RbsBuilder
 
 def launch_setup(context, *args, **kwargs):
     # Initialize Arguments
@@ -72,11 +71,6 @@ def launch_setup(context, *args, **kwargs):
         }
     )
 
-    # robot = RbsBuilder(6, "arm0", "world", "rbs_gripper")
-    # robot.base()
-    # robot.gripper()
-    # robot.ros2_control()
-    # robot.moveit()
     robot_description_content = robot_description_doc.toprettyxml(indent="  ")
 
     robot_description = {"robot_description": robot_description_content}

rbs_bringup/launch/single_robot.launch.py

@@ -53,7 +53,8 @@ def launch_setup(context, *args, **kwargs):
         launch_arguments={
             'sim_gazebo': sim_gazebo,
             'debugger': "false",
-            'launch_env_manager': "false"
+            'launch_env_manager': "false",
+            'gazebo_world_filename': "asm2.sdf"
         }.items(),
         condition=IfCondition(launch_simulation)
     )

rbs_bt_executor/package.xml

@@ -10,7 +10,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>rbs_utils</depend>
   <depend>rbs_skill_interfaces</depend>
-  <depend>component_interfaces</depend>
   <depend>env_manager_interfaces</depend>
   <depend>behavior_tree</depend>
   <test_depend>ament_lint_auto</test_depend>

repos/sim.rbs.repos

@@ -15,3 +15,7 @@ repositories:
     type: git
     url: https://github.com/osrf/dynamic_message_introspection.git
     version: main
+  robot_builder:
+    type: git
+    url: https://github.com/solid-sinusoid/robot-builder.git
+    version: main